feat(mrm_handler): operate mrm only when autonomous operation mode

Signed-off-by: Makoto Kurihara <[email protected]>
tier4 · Apr 10, 2024 · 2cf3fee · 2cf3fee
1 parent 7503f42
commit 2cf3fee
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
@@ -450,12 +450,14 @@ void MrmHandler::updateMrmState()
   const bool is_emergency = isEmergency();
 
   // Get mode
-  const bool is_auto_mode = control_mode_->mode == ControlModeReport::AUTONOMOUS;
+  const bool is_vehicle_auto_mode = control_mode_->mode == ControlModeReport::AUTONOMOUS;
+  const bool is_operation_mode_auto_mode = operation_mode_state_->mode ==
+                                           autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS;
 
   // State Machine
   if (mrm_state_.state == MrmState::NORMAL) {
     // NORMAL
-    if (is_auto_mode && is_emergency) {
+    if (is_vehicle_auto_mode && is_operation_mode_auto_mode && is_emergency) {
       transitionTo(MrmState::MRM_OPERATING);
       return;
     }